Finite Time Consensus Problem for Multiple Non-Holonomic Agents with Communication Delay |
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Affiliation: | WANG Jiankui;FU Jiankuan;ZHANG Guoshan;School of Science, Tianjin Polytechnic University;School of Electrical Engineering & Automation, Tianjin University; |
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Abstract: | In this paper, finite time consensus problem is discussed for multiple non-holonomic mobile agents with constant communication delay. The objective is to design non-smooth distributed control laws such that multiple non-holonomic mobile agents can be all in agreement within any given finite time larger than communication delay. The authors propose a novel switching control strategy with the help of Lyapunov-based method and graph theory. |
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